Advances in Sliding Mode Control: Concept, Theory and by Branislava Draženović, Čedomir Milosavljević (auth.), B

By Branislava Draženović, Čedomir Milosavljević (auth.), B Bandyopadhyay, S Janardhanan, Sarah K. Spurgeon (eds.)

The sliding mode keep an eye on paradigm has turn into a mature method for the layout of sturdy controllers for a large type of platforms together with nonlinear, doubtful and time-delayed platforms. This publication is a suite of plenary and invited talks added on the 12th IEEE

International Workshop on Variable constitution procedure held on the Indian Institute of know-how, Mumbai, India in January 2012. After the workshop, those researchers have been invited to increase booklet chapters for this edited assortment so one can mirror the most recent effects and open study questions within the area.

The contributed chapters were equipped via the editors to mirror a number of the issues of sliding mode regulate that are the present parts of theoretical learn and purposes concentration; particularly articulation of the elemental underpinning idea of the sliding mode layout paradigm, sliding modes for decentralized method representations, keep an eye on of time-delay platforms, the better order sliding mode inspiration, effects acceptable to nonlinear and underactuated platforms, sliding mode observers, discrete sliding mode keep an eye on including leading edge learn contributions within the program of the sliding mode suggestion to actual global problems.

This publication offers the reader with a transparent and whole photo of the present traits in Variable constitution platforms and Sliding Mode keep an eye on Theory.

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Example text

Since the output in the SM is y = Hx, Hsm = H. This completes the construction of the state space model. 5 Examples and Simulations This section contains four design examples and two simulations. 3 and generation of SM state space models. The aim of the first simulation is to compare the trajectories of a standard LQR design, and SM design in a system supplied with matched disturbance, with a trajectory having a reaching phase and a sliding phase. The second simulation uses integral SM. Since there is no reaching phase, the trajectory is obtained using a SM state space model.

23) is equivalent to m(n − m) independent scalar equations. 18). The matrix C is then defined by the matrix equation C Vs B = 0m,n−m Im . 24) A reasonable way to choose particular right eigenvectors in Vs is based on their corresponding eigenvalues. The question is which eigenvalues/eigenvectors should be dropped. Some obvious options are to delete the dominant eigenvalues often met in LQR design to eliminate overshoot, or to eliminate some real eigenvalues close to zero to improve the stability margin.

The main drawback of this approach is the gain over-estimation with respect to uncertainties bound. Furthermore, this approach is not directly applicable, but requires modifications for its application to real systems: thus, the sign function is replaced by a saturation function where the boundary layer width affects accuracy and robustness. Furthermore, no boundary layer width tuning methodology is provided. A method proposed in [[15]] in order to limit the switching gain must be mentioned. The idea is based on use of equivalent control: once sliding mode occurs, disturbance magnitude is evaluable and allows an adequate tuning of control gain.

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